#ifndef PARAMETERS_H_
#define PARAMETERS_H_

namespace mpccbf {
    struct SystemState{
        double x;
        double y;
        double heading;   //朝向theta
        double v_x;
        double v_y;

        /*障碍物坐标*/
        double obs_x;
        double obs_y;

        double roll;  
        double pitch;
        double yaw;
    };

    struct TrajectoryPoint
    {
        double heading;
        double x;
        double y;
        double v_x;
        double v_y;
    };

    struct CtrlCmd
    {
        double steer_target;
        double acc_x;
        double acc_y;
    };
}

#endif